室外场景下样机飞行过程动态性能原始数据集

该数据集主要面向无人机飞行控制、多源传感器融合定位、室外复杂环境下机器人动态稳定性评估及接触作业扰动分析等研究需求建设，其基于搭载PX4开源飞控与多传感器融合定位系统的空中作业机器人样机，在真实室外环境中通过定点悬停与接触作业测试采集产生。数据主要记录了样机在室外复杂干扰条件下（如GPS信号抖动、雷达信号丢失与恢复）的飞行动态性能原始信息，具体内容包括：高频飞控日志（.ulg格式，约5组），涵盖加速度计、陀螺仪、GPS、磁力计等传感器原始数据及控制器输出；记录关键信号异常瞬间的特征分析截图（.png格式，3张）；以及反映样机在接触作业与融合定位测试中实际响应的多角度现场视频（.mp4格式，2段）。数据集系统组织为“室外定点悬停”与“室外接触作业”两类典型场景，支持对飞行姿态稳定性、定位信号质量、避障系统鲁棒性及接触过程力学耦合效应的深入分析。该数据集为无人机在信号受扰环境下的控制算法验证、多传感器融合定位策略优化以及室外物理交互作业的动态性能评估提供了真实、可追溯的实测数据基础。This dataset is developed to address research needs including unmanned aerial vehicle (UAV) flight control, multi-source sensor fusion positioning, dynamic stability evaluation of robots in complex outdoor environments, and disturbance analysis of contact operations. It is built based on an aerial work robot prototype equipped with the open-source PX4 flight controller and multi-source sensor fusion positioning system, with data collected through fixed-point hover and contact operation tests in real outdoor environments. The data primarily records original flight dynamic performance information of the prototype under complex outdoor interference conditions, such as GPS signal jitter, radar signal loss and recovery. Specific contents include: high-frequency flight control logs (in .ulg format, approximately 5 sets) covering original data from sensors like accelerometers, gyroscopes, GPS, magnetometers and controller outputs; 3 feature analysis screenshots (in .png format) capturing abnormal moments of key signals; and 2 multi-angle on-site videos (in .mp4 format) reflecting the actual responses of the prototype during contact operation and fusion positioning tests. The dataset is systematically organized into two typical scenarios: "Outdoor Fixed-point Hover" and "Outdoor Contact Operation", which supports in-depth analysis of flight attitude stability, positioning signal quality, obstacle avoidance system robustness and mechanical coupling effects during the contact process. This dataset provides a real and traceable measured data foundation for UAV control algorithm validation in signal-disturbed environments, multi-source sensor fusion positioning strategy optimization, and dynamic performance evaluation of outdoor physical interaction operations.

搜集汇总

背景与挑战

背景概述

该数据集提供了在真实室外环境中，基于搭载PX4飞控与多传感器融合定位系统的空中作业机器人样机，通过定点悬停和接触作业测试采集的原始飞行动态性能数据。内容包括高频飞控日志、关键信号异常特征分析截图和多角度现场视频，主要用于无人机控制算法验证、多传感器融合定位策略优化以及室外物理交互作业的动态性能评估。